Related papers: Passivity-Based Robust Shape Control of a Cable-Dr…
This paper presents prototype testing and a control allocation algorithm for the Cable-Actuated Bio-inspired Lightweight Elastic Solar Sail (CABLESSail) concept aimed at performing momentum management of a solar sail. CABLESSail uses…
This paper presents a static and dynamic torque analysis of the CABLESSail concept, which involves cables routed along the length of the flexible booms that hold the solar sail membrane in such a manner that tensioning the cables results in…
Doubly curved thin concrete shells are very efficient building structures, suitable for light-weight construction because of their high structural stability. In the process of constructing such shells, an efficient innovative flexible…
Background: A solar sail presents a large sheet of low areal density membrane and is the most elegant propellant-less propulsion system for the future exploration of the Solar System and beyond. By today the study on sail membrane…
The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust…
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for…
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has…
This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…
Solar sails enable propellant-free space missions by utilizing solar radiation pressure as thrust. However, disturbance torques act on the solar sail and effective attitude control leads to the continuous accumulation of reaction wheel…
This paper presents a mission concept that enables Earth-Mars communications resistant to periods of solar conjunction by using CubeSat satellites equipped with a solar sail. The dynamics of the satellite is modeled separately in the…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact…
Recent successes in the deployment of sails in space have reduced the risk associated with solar sailing missions. The attitude control requirements for a solar sailing mission is low with only slow attitude maneuvers needed to maintain a…
CABLE is a land surface model (LSM) that can be applied stand-alone, as well as providing for land surface-atmosphere exchange within the Australian Community Climate and Earth System Simulator (ACCESS). We describe critical new…
The electric solar wind sail produces thrust by centrifugally spanned high voltage tethers interacting with the solar wind protons. The sail attitude can be controlled and attitude maneuvers are possible by tether voltage modulation…
Solar sails offer a promising solution for fuel free propulsion, enabling novel mission profiles and deeper space exploration. While reaction wheels are standard for spacecraft attitude control, the large moment of inertia of solar sails…
This paper introduces the Cable Robot Simulation and Control (CaRoSaC) Framework, which integrates a simulation environment with a model-free reinforcement learning control methodology for suspended Cable-Driven Parallel Robots (CDPRs),…
In the framework of a strict mathematical approach based on classical theory of elasticity we present an idea of the deployment and stretching of the circular solar sail attached to the inflatable toroidal shell. It is predicted that by…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…
Solar sails with the capability of generating a tangential radiation pressure at the sun-pointing attitude, such as refractive sails can provide more efficient methods for attitude and orbital control of sailcraft. This paper presents the…